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Plane: fixed attitude control during QPOS_AIRBRAKE 

this fixes a bug where we used the multicopter rate control when in
airbrake approach stage, which could lead to attitude going out of
control
This commit is contained in:
Andrew Tridgell 2021-06-19 11:55:06 +10:00
parent 558ccbc926
commit 49ec2072d0
1 changed files with 9 additions and 1 deletions
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10
ArduPlane/quadplane.cpp
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@ -2601,6 +2601,9 @@ void QuadPlane::PosControlState::set_state(enum position_control_state s)
// back to normal
qp.pos_control->set_max_speed_accel_xy(qp.wp_nav->get_default_speed_xy(),
qp.wp_nav->get_wp_acceleration());
} else if (s == QPOS_AIRBRAKE) {
// start with zero integrator on vertical throttle
qp.pos_control->get_accel_z_pid().set_integrator(0);
}
}
state = s;
@ -2681,6 +2684,10 @@ void QuadPlane::vtol_position_controller(void)
const float stop_distance = stopping_distance();
if (poscontrol.get_state() == QPOS_AIRBRAKE) {
hold_hover(0);
}
/*
see if we should start airbraking stage. For non-tailsitters
we can use the VTOL motors as airbrakes by firing them up
@ -4061,7 +4068,8 @@ bool QuadPlane::use_fw_attitude_controllers(void) const
motors->armed() &&
motors->get_desired_spool_state() >= AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED &&
in_vtol_mode() &&
!is_tailsitter()) {
!is_tailsitter() &&
poscontrol.get_state() != QPOS_AIRBRAKE) {
// we want the desired rates for fixed wing slaved to the
// multicopter rates
return false;